Joints
To configure the emergency stop ramps, see chapter Emergency stop ramps and software limit switches of the joints.
In addition to the joint axes, 3 non-driven joints are to be configured. These act as software limit switches.
Parameter name | Additional information |
|---|---|
Non-driven joint 2 (left elbow) | Angle between upper arm and forearm of arm 1 |
Non-driven joint 4 (right elbow) | Angle between upper arm and forearm of arm 2 |
Intersection of the arms | Angle between the two forearms |
